//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//

#include "Dynamic.h"
#include "EulerCauchyIntegrator.h"

namespace rl
{
	namespace mdl
	{
		EulerCauchyIntegrator::EulerCauchyIntegrator(Dynamic* dynamic) :
			Integrator(dynamic)
		{
		}
		
		EulerCauchyIntegrator::~EulerCauchyIntegrator()
		{
		}
		
		void
		EulerCauchyIntegrator::integrate(const ::rl::math::Real& dt)
		{
			::rl::math::Vector y = this->dynamic->getPosition();
			::rl::math::Vector dy = this->dynamic->getVelocity();
			
			this->dynamic->forwardDynamics();
			
			// f
			::rl::math::Vector f = this->dynamic->getAcceleration();
			
			// y_0 + dy_0 * dt
			y += dt * dy;
			// dy_0 + f * dt
			dy += dt * f;
			
			this->dynamic->setPosition(y);
			this->dynamic->setVelocity(dy);
			this->dynamic->setAcceleration(f);
		}
	}
}
